Person counting system and gate device using this system

Abstract

To provide a person counting system that can determine whether an object is a person or a thing, and accurately count the number of persons when the object approaching a passerby is detected.SOLUTION: A person counting system includes point group data acquisition units 16-1 and 16-2, an infrared data acquisition unit 17, and an integrated processing unit 12a. The point group data acquisition units are installed above a specific position in a passageway and acquire point group data of passers-by from different directions. The infrared data acquisition unit is installed above the specified position and acquires heat source data of passers-by. The integrated processing unit processes the point group data from the point group data acquisition unit by image processing, and upon detection of an object approaching the passerby, overlays the heat source data on the image processing results to determine whether the object is a person or a thing.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a person counting system that discriminates whether an object is a person or an object and counts the number of people when an object approaching a passerby is detected, and a gate device using this system.

Background Art

[0002] Patent Document 1 describes an entrance / exit management device that controls the unlocking of an electric lock based on the coincidence between the number of people entering a room according to the reading result of a card reader and the number of people in a monitoring area determined by image processing. That is, it is a technique for confirming the coincidence between the number of people read from a card and the number of people in the monitoring area by a camera and performing unlocking (=permission to enter), and it can handle the detection of piggybacking when multiple people enter the detection line of an optical sensor overlapping each other.

[0003] Further, Patent Document 2 describes a gate monitoring system that can effectively prevent piggybacking intrusion by combining a means for accurately grasping the number of people passing through a gate using a stereo image processing method and an authentication means for authenticating an authenticator.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the entrance / exit management device of Patent Document 1 and the gate monitoring system of Patent Document 2, when an object approaching a passerby is detected, it is impossible to determine whether the object is a person or an object. For example, in Patent Document 1, since the means for detecting the number of people in the monitoring area is person recognition based on a difference image between a plurality of images with a time difference, when a passerby is in a state of carrying an infant or a child (referred to as a carrying passerby), it is highly likely to be determined as "one person" instead of "two people".

[0006] Further, in Patent Document 2, although the detection of accompanying persons by comparing the number of passable persons and the number of persons entering the gate is carried out using follow-up detection by an infrared sensor, it is impossible to detect accompanying persons for a carrying passerby.

[0007] As described above, in the prior art, when an object approaching a passerby is detected, it is impossible to determine whether the object is a person or an object, and there is a problem that infants and children in a state of being held by an adult (carrying state) cannot be detected and the accurate number cannot be counted.

[0008] The present invention has been made in view of the above circumstances, and an object thereof is to provide a person counting system capable of determining whether an object is a person or an object and counting the accurate number when an object approaching a passerby is detected, and a gate device using this system.

Means for Solving the Problem

[0009] A person counting system according to an aspect of the present invention includes a point cloud data acquisition unit provided above a specific position on a passage for acquiring point cloud data of a passerby from different directions, an infrared data acquisition unit provided above the specific position for acquiring heat source data of the passerby, and an integrated processing unit that performs image processing on the point cloud data from the point cloud data acquisition unit and overlays the heat source data on the image processing result to determine whether the object is a person or an object when an object approaching the passerby is detected.

[0010] In addition, a gate device according to an aspect of the present invention includes a person counting system, an information reading unit that reads ticket information from a ticket medium, a gate that allows a passerby to pass through the specific position when open and blocks the passerby from passing through the specific position when closed, and a control unit that opens and closes the gate. The control unit is configured to open the gate based on the ticket information and close the gate when there is a discrepancy between the number of persons allowed to pass included in the ticket information and the counting result of the person counting system.

Advantages of the Invention

[0011] According to the present invention, when an object approaching a passerby is detected, it is possible to discriminate whether the object is a person or an object, and it is possible to provide a person counting system that can accurately count the number of people and a gate device using this system.

Brief Description of the Drawings

[0012]

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Embodiments for Carrying Out the Invention

[0013] Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a schematic configuration of a gate device in which a person counting system according to an embodiment of the present invention is used. The gate device 10 includes a pair of main bodies 11-1 and 11-2 oppositely arranged along a passage (specific position) 11a indicated by an arrow AA, and a person counting unit 12 arranged above these main bodies 11-1 and 11-2.

[0014] The person counting unit 12 is installed on the main body 11-1 by an L-shaped arm 15, and a point cloud data acquisition unit and an infrared data acquisition unit are arranged above a specific position of the passage. Then, based on the three-dimensional point cloud data of the passerby acquired by the point cloud data acquisition unit and the heat source data acquired by the infrared data acquisition unit, it discriminates whether an object approaching the passerby is a person or an object, and detects the companions of the holding passerby.

[0015] An information reading unit 13 is provided on the entrance side of the main body 11-1, and passage control gates (gates) 14-1 and 14-2 are provided on the exit sides of the main bodies 11-1 and 11-2. The information reading unit 13 reads QR codes (registered trademarks) described on a pass medium (admission ticket or boarding ticket) or pass information recorded on an IC card or the like. The gates 14-1 and 14-2 allow a passerby to pass through the passage 11a when open, while blocking the passerby from passing through the passage 11a when closed.

[0016] Although not shown, a transmissive sensor and a reflective sensor are arranged opposite to each other on the surfaces of the main bodies 11-1 and 11-2 on the side of the passage 11a. Further, a main control unit and a passage control unit are built in the main body 11-1. The main control unit determines the number of passersby based on the pass information read by the information reading unit 13 and the number of people counted by the person counting unit 12.

[0017] FIG. 2 extracts and shows the person counting unit 12 in the gate device 10 shown in FIG. 1. FIG. (a) is a plan view, FIG. (b) is a side view, and FIG. (c) is a front view. In this example, the point cloud data acquisition unit is composed of first and second ToF (Time of Flight) cameras 16-1 and 16-2, and these ToF cameras 16-1 and 16-2 acquire point cloud data of passersby from different directions. The infrared data acquisition unit is composed of an IR (Infrared) camera 17, which photographs passersby to acquire heat source data. The IR camera 17 is arranged between the ToF cameras 16-1 and 16-2 and is configured to photograph the same range by aligning the coordinate axes with these ToF cameras 16-1 and 16-2.

[0018] Furthermore, when the point cloud data from the ToF cameras 16-1 and 16-2 is subjected to image processing and an object approaching a passerby is detected, an integration processing unit is provided that superimposes the heat source data photographed by the IR camera 17 on the image processing result to determine whether the object is a person or an object. The integration processing unit may be built in the person counting unit 12 or in the main body 11-1. Alternatively, without providing a dedicated processing unit, similar processing can also be realized by a program using some functions of the main control unit and the passage control unit.

[0019] Figure 3 is a side view of the main body 11-1 in the gate device shown in Figure 1. Although not shown, basically the main body 11-2 is also configured in the same way. On the side surfaces of the main bodies 11-1 and 11-2 on the passage 11a side, 16 pairs of transmissive sensors 20-1 to 20-16 and 4 pairs of reflective sensors 21-1 to 21-4 are arranged opposite to each other. The transmissive sensors 20-1 to 20-16 are paired with a light emitter and a light receiver, and are configured to receive the emitted light from the light emitter with the light receiver. These transmissive sensors 20-1 to 20-16 function as human detection sensors, and detect a person when a passerby passing through the passage 11a blocks the light.

[0020] For the reflective sensors 21-1 to 21-4, a set of a light emitter and a light receiver are provided on the same side surface, and the light receiver receives the reflected light reflected by a person from the emitted light from the light emitter. In this way, the reflective sensors 21-1 to 21-4 detect a person by detecting the light reflected by a passerby. The transmissive sensors 20-1 to 20-16 detect the movement status of a passerby in the passage 11a, and the reflective sensors can determine whether the passerby is an adult or a child.

[0021] Figure 4 is a block diagram showing a configuration example of a gate device according to an embodiment of the present invention. The gate device 10 includes a main control unit 22, a passage control unit 23, and a person counting unit 12. Information such as the information of the QR code (registered trademark) described on the admission ticket or boarding ticket read by the QR reader 24 provided in the information reading unit 13, or the passage ticket information recorded on an IC card read by an IC reader / writer (ICRW) 25 is input to the main control unit 22. The information read from the QR code (registered trademark) or the IC card includes information such as the planned number of people to pass through and whether it is an adult or a child. These read information are input to the main control unit 22.

[0022] The passage control unit 23 receives detection information of the passerby, such as the passage position, number of people, whether they are adults or children, etc., from the transmissive sensors 20 (20-1 to 20-16) and the reflective sensors 21 (21-1 to 21-4). Also, the person counting unit 12 receives the three-dimensional point cloud data of the passerby acquired by the ToF cameras 16-1 and 16-2, and the heat source data of the passerby acquired by the IR camera 17. The discrimination result (number of people and whether there are accompanying people with the carried passerby) by this person counting unit 12 is input to the passage control unit 23. Then, the information from the passage control unit 23 is input to the main control unit 22. Based on the information read by the QR reader 24 and the IC reader / writer 25 by the main control unit 22, the detection information of the passerby detected by the transmissive sensors 20 and the reflective sensors 21, and the information for discriminating whether the object approaching the passerby acquired by the ToF cameras 16-1 and 16-2 and the IR camera 17 is a person or an object, etc., the opening and closing control of the gate 14 (or door unit) is performed.

[0023] FIG. 5 shows a configuration example of the person counting unit 12 in FIG. 4. In this example, an integration processing unit 12a is provided inside the person counting unit 12. The images captured by the ToF cameras 16-1 and 16-2 are input to the integration processing unit 12a. The ToF camera 16-1 is composed of a sensor 16a and an image processing unit 16b that processes the output image of this sensor 16a. The ToF camera 16-2 is composed of a sensor 16c and an image processing unit 16d that processes the output image of this sensor 16c. Then, the processing results of the image processing units 16b and 16d are input to the integration processing unit 12a. Also, the image acquired by the IR camera 17 is input to the integration processing unit 12a.

[0024] When the heat source of the object exceeds the temperature threshold value or the number of point cloud data with heat sources is equal to or more than a certain value when the point cloud data and the heat source data are overlaid, this integration processing unit 12a determines that the object is a person.

[0025] FIG. 6 is a schematic diagram for explaining the operations of the main control unit 22, the passage control unit 23, and the person counting unit 12 in the gate device according to an embodiment of the present invention. When a passerby holds a ticket (passage ticket medium) up to the information reading unit 13 on the entrance side of the main body 11-1, for example, a QR code (registered trademark) is read by the QR reader 24, and a command for opening the door (gate) is input from the main control unit 22 to the passage control unit 23, and the gates 14 (14-1, 14-2) open. The main control unit 22 recognizes that there is one passerby and executes "credit +1". Here, "credit" is the right of passage generated by reading the ticket, and an error is set when this is insufficient.

[0026] When the passerby enters the passage 11a between the main bodies 11-1 and 11-2 and the passage control unit 23 detects the passage of a person with the transmission type sensors 20 (20-1 to 20-16), the passage control unit 23 notifies the main control unit 22 that a person has been detected. When the passage control unit 23 detects a human-like state from the use of these tickets and the movement status detected by the transmission type sensors 20 and the reflection type sensors 21, the passage control unit 23 assigns a sorting number to the detected person.

[0027] On the other hand, when a person enters the monitoring area by the ToF cameras 16-1 and 16-2 and the IR camera 17 (reaches the camera shooting point), a shooting notification is sent to the person counting unit 12, and shooting is performed by the ToF cameras 16-1 and 16-2 and the IR camera 17. FIG. 7 shows an imaging image by the ToF cameras 16-1 and 16-2, and the shooting range of the ToF cameras 16-1 and 16-2 is the monitoring area. The monitoring area is near the entrances of the main bodies 11-1 and 11-2 of the gate device 10 and is detected before holding the ticket up to the information reading unit 13. When the passage control unit 23 is notified that shooting has been performed from the person counting unit 12, the assigned sorting number is notified from the passage control unit 23 to the person counting unit 12 as a shooting response.

[0028] When the shooting response is input to the person counting unit 12, the holding determination process is executed. The determination result is input to the passage control unit 23 as a person number notification, a camera detection notification is input to the main control unit 22, and a person number response is returned to the person counting unit 12.

[0029] When a passerby arrives at the central part of the gate device 10 (the central part of the passage 11a), a human detection notification is executed by the passage control unit 23 and notified from the passage control unit 23 to the main control unit 22. Similarly, when a passerby arrives at the exit of the gate device 10, a human detection notification is executed by the passage control unit 23 and notified from the passage control unit 23 to the main control unit 22.

[0030] When a passerby exits the gate device 10, "Credit - 1" is executed in the main control unit 22. As a result, a command to close the door (gate 14) is input from the main control unit 22 to the passage control unit 23, and the gate 14 is closed. In this state, all of the transmissive sensors 20 (20 - 1 to 20 - 16) perform light reception, and the passage control unit 23 confirms to the main control unit 22 that there is no person.

[0031] FIG. 8 is a flowchart showing an outline of the holding determination process executed by the integration processing unit 12a shown in FIG. 5. FIG. 9 shows a point cloud image (point group data) acquired by the ToF sensor 16a, and FIG. 10 shows a point cloud image (point group data) acquired by the ToF sensor 16c. Further, FIG. 11 is heat source data obtained by photographing with the IR camera 17.

[0032] Since the mounting positions of the respective ToF sensors 16a and 16c are shifted, the measurement data is slightly different, and an object approaching the passerby is shown in the region surrounded by the two - dotted chain line DL1 in FIG. 9. By photographing from such two different directions, even if it cannot be detected from a specific direction, there is a possibility of detection from another direction, and the accuracy of detection can be achieved. When the integration process is started, the shape determination results are received from the image processing units 16b and 16d of the ToF cameras 16 - 1 and 16 - 2 (step S1).

[0033] Next, the point cloud data acquired by the ToF sensors 16a and 16c is subjected to image processing by the image processing units 16b and 16d, respectively. FIG. 12 is a point cloud image of the photographed person viewed from the side based on the image processing results performed by the image processing units 16b and 16d. Here, for the sake of convenience, the point cloud image is shown in a state rotated to a side view, but actually it is an image taken from the front obliquely above.

[0034] From this point cloud image, it is determined whether there is an object close to the passerby, that is, whether there is a possibility of holding (step S2). If it is determined that there is a possibility, as shown by the two-dot chain line DL2 in FIG. 13, the location that seems to have "a possibility of holding" is extracted.

[0035] When it is determined in step S2 that there is a possibility of holding, the heat source data (heat source information) from the IR camera 17 shown in FIG. 14 is superimposed on the point cloud image of FIG. 13 by the integration processing unit 12a (step S3), and it is determined whether there is a heat source of the detected object (step S4). FIG. 14 shows a two-dimensional image of the IR camera from the front, and the area surrounded by the two-dot chain line DL3 is the location determined to have a possibility of holding from the point cloud image.

[0036] Then, when it is determined that there is a heat source within the area surrounded by the two-dot chain line DL3, it is determined that it is a holding passage (step S5). For example, when the heat source of the object exceeds the temperature threshold or the number of point cloud data with a heat source is equal to or more than a certain value when the point cloud data and the heat source data are superimposed, it is determined that the object is a person. When it is determined that there is no heat source, and when it is determined in step S2 that there is no possibility of holding, it is determined that it is a single passage (step S6).

[0037] In the next step S7, the determination result is stored in the main control unit 22. Subsequently, it is determined whether the person count notification position has been reached. If it is determined that the position has been reached, a person count notification is transmitted (step S8), and the integrated process is terminated. On the other hand, if it is determined that the person count notification position has not been reached, the process returns to step S1 to receive the shape determination results from the image processing units 16b and 16d of the ToF cameras 16-1 and 16-2.

[0038] According to such a person counting system and a gate device using this system, when an object approaching a passerby is detected, the heat source data is used to determine whether the object is a person or an object. Therefore, for example, a person holding a stuffed toy will not be mistakenly counted as two people, and the accurate number of people can be counted.

[0039] The configurations, control procedures, etc. described in the above embodiments are only schematically shown to the extent that the present invention can be understood and implemented. Therefore, the present invention is not limited to the described embodiments, and can be changed into various forms without departing from the scope of the technical idea shown in the claims.

[0040] For example, the ToF cameras (point cloud data acquisition units) 16-1 and 16-2, and the IR camera (infrared data acquisition unit) each acquire point cloud data and heat source data multiple times at different positions as the passerby moves. The integration processing unit 12a may perform image processing on the acquired point cloud data multiple times, overlay the heat source data corresponding to each image processing result, and determine whether the object approaching the passerby is a person or an object based on the image processing results multiple times.

[0041] Then, a composite determination is made as to which is greater, the number of times determined as "accompanied by a carried passerby" or the number of times determined as "single passage", or in what order such combinations are arranged. By determining whether the approaching object is a person or an object from multiple determinations in this way, it becomes possible to make a determination with higher accuracy.

[0042] In addition, although the case of applying the person counting system to the gate device has been described as an example, it goes without saying that it may also be applied to other devices and systems.

Explanation of Signs

[0043] 10… Gate device, 11-1, 11-2… Main body, 11a… Passageway (specific position), 12… Person counting unit, 12a… Integrated processing unit, 13… Information reading unit, 14, 14-1, 14-2… Passage control gate (gate), 15… L-shaped arm, 16-1, 16-2… ToF camera (point cloud data acquisition unit), 16a, 16c… Sensors, 16b, 16d… Image processing units, 17… IR camera (infrared data acquisition unit), 20-1~20-16… Transmission type sensors, 21-1~21-4… Reflection type sensors, 22… Main control unit, 23… Passage control unit, 24… QR reader, 25… IC reader / writer (ICRW)

Claims

1. A point cloud data acquisition unit provided above a specific position of a passage, for acquiring point cloud data of passers-by from different directions; An infrared data acquisition unit provided above the specific position, for acquiring heat source data of the passers-by; An integrated processing unit that performs image processing on the point cloud data from the point cloud data acquisition unit, and when detecting an object approaching the passer-by, overlays the heat source data on the image processing result to determine whether the object is a person or an object. A person counting system comprising the above components.

2. When the integrated processing unit overlays the point cloud data and the heat source data, if the heat source of the object exceeds a temperature threshold, or if the number of point cloud data with heat sources is equal to or more than a certain value, the integrated processing unit determines that the object is a person. The person counting system according to Claim 1.

3. The point cloud data acquisition unit and the infrared data acquisition unit each acquire point cloud data and heat source data multiple times at different positions as the passer-by moves; The integrated processing unit performs image processing on each of the acquired multiple sets of point cloud data, overlays the corresponding heat source data on the image processing results, and determines whether an object approaching the passer-by is a person or an object based on the multiple sets of image processing results. The person counting system according to Claim 1 or 2.

4. The point cloud data acquisition unit includes first and second ToF (Time of Flight) cameras for acquiring three-dimensional point cloud data of the passers-by from two different upper directions at the specific position; The infrared data acquisition unit includes an IR (Infrared) camera whose coordinate axes are aligned with the first and second ToF cameras. The person counting system according to any one of Claims 1 to 3.

5. The person counting system according to any one of Claims 1 to 4, An information reading unit for reading ticket information from a ticket medium; A gate that allows a passer-by to pass through the specific position when open, and blocks the passer-by from passing through the specific position when closed; A control unit for opening and closing the gate; Comprising: The control unit is configured to open the gate based on the ticket information and close the gate when there is a discrepancy between the countable persons included in the ticket information and the counting result of the person counting system. A gate device.

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